
typedef struct
{
	uint8_t which_motor;
	float pid_vel_error;
	float pid_angle_error;
	float electric_angle;
	float machine_angle;
	float zero_electric_angle;
} struct_CMD_GIMBAL_STATUS;

typedef struct
{

	uint8_t which_motor;
	//角度，不是弧度
	float initial_angle;

} struct_CMD_GIMBAL_RESET_ZERO;

typedef struct
{

	uint8_t which_motor;
	float adj_angle;

} struct_CMD_GIMBAL_ADJ;

typedef struct
{
	// 0 与云台解锁； 1 与云台锁定
	uint8_t locked ;
} struct_CMD_HEADTRACK_LOCK;

typedef struct
{
	float roll;
	float pitch;
	float yaw;
} struct_CMD_HEADTRACK_EULER_ANGLE;

#define CMD_GIMBAL_STATUS 0x01
#define CMD_GIMBAL_RESET_ZERO  0x02
#define CMD_GIMBAL_ADJ  0x03
#define CMD_HEADTRACK_LOCK 0x04
#define CMD_HEADTRACK_EULER_ANGLE 0x05


